CN110954136A - Temperature compensation method for fiber optic gyroscope - Google Patents
Temperature compensation method for fiber optic gyroscope Download PDFInfo
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- CN110954136A CN110954136A CN201911285035.3A CN201911285035A CN110954136A CN 110954136 A CN110954136 A CN 110954136A CN 201911285035 A CN201911285035 A CN 201911285035A CN 110954136 A CN110954136 A CN 110954136A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The invention discloses a method for compensating the temperature of a fiber-optic gyroscope, which comprises the following steps: a system-level temperature compensation platform is set up, different simulation experiment conditions are set, and a simulation result is verified by using a corresponding experiment; collecting and processing working condition temperature data of the temperature compensation platform; analyzing the correlation of each temperature factor, compensating temperature errors by using a high-order polynomial algorithm and an RBF neural network algorithm, and establishing a corresponding mathematical model; and (3) compensating the gyro output by using a least square method, compiling a BP neural network compensation interface for comparing the compensation effects of the linear and nonlinear compensation methods, and compensating the gyro output by using the interface. The method of the invention is adopted to compensate the temperature drift of the fiber-optic gyroscope, and the measurement precision of the fiber-optic gyroscope can be effectively improved.
Description
Technical Field
The invention belongs to the technical field of optical fiber inertial navigation systems, and relates to a temperature compensation method of an optical fiber gyroscope.
Background
The fiber-optic gyroscope has the advantages of high precision, small volume, quick start and impact resistance, the fiber-optic gyroscope has excellent performance, but the precision of the fiber-optic gyroscope is easily influenced by a plurality of factors, in order to improve the precision, in the traditional fiber-optic gyroscope temperature drift compensation method, the temperature drift modeling is specific to a single gyroscope and is used for inhibiting the temperature effect of the fiber-optic gyroscope, and the device-level temperature drift model modeling environment can not truly reflect the thermal environment change in the inertial navigation system and can not meet the temperature drift compensation of a system level by improving the methods of fiber-optic materials, a multi-pole symmetrical loop winding method, a temperature control device and the like, the problem is not perfectly solved, and the complexity of the gyroscope structure is increased.
Disclosure of Invention
The invention aims to provide a method for compensating the temperature of a fiber-optic gyroscope, which solves the problem of low precision in the temperature drift compensation of the fiber-optic gyroscope in the prior art.
The invention adopts the technical scheme that a method for compensating the temperature of a fiber-optic gyroscope is characterized by comprising the following specific steps:
step 1, a system-level temperature compensation platform is set up, different simulation experiment conditions are set, and a simulation result is verified by using a corresponding experiment;
step 2, collecting and processing working condition temperature data of the temperature compensation platform;
step 3, analyzing the correlation of each temperature factor, compensating temperature errors by using a high-order polynomial algorithm and an RBF neural network algorithm, and establishing a corresponding mathematical model;
and 4, compensating by a least square method, compensating the output of the gyroscope by using the method, compiling a BP neural network compensation interface for comparing the compensation effects of the linear and nonlinear compensation methods, and compensating the output of the gyroscope by using the interface.
The present invention is also characterized in that,
step 1, assembling an optical fiber inertial navigation system by using a preposed assembly program to realize a working environment of an optical fiber gyroscope system level, building a temperature control platform and designing a temperature control strategy to obtain actual working condition environments under various temperature conditions.
In step 2, the influence of the temperature field on the fiber optic gyroscope is simulated by using a finite element method, steady-state analysis and transient analysis are carried out on the device, and the corresponding thermal distribution condition is obtained through a thermal mechanism generating temperature drift.
And 3, taking the model of the gyro output standard deviation and the variable temperature rate in the temperature rise process as an evaluation index of the relationship between the gyro thermal drift error and the variable temperature rate, establishing a zero-bias compensation model of the fiber optic gyro in the working condition environment of the fiber optic strapdown inertial unit, and obtaining and eliminating the measurement deviation formed by the system temperature on the basis of fully reflecting the system temperature change and the temperature change rate, thereby ensuring the precision of the fiber optic inertial unit in the full-temperature-domain environment.
And 4, compensating the gyro scale factor by using a least square method, and providing a variable order least mean square algorithm for scale factor compensation.
The method has the advantages that the temperature error of the output of the fiber optic gyroscope is improved through the fiber optic gyroscope element, the output temperature characteristic and the compensation algorithm, the fiber optic gyroscope is established in the working condition environment of the fiber optic strapdown inertial measurement unit, the measurement deviation formed by the system temperature is obtained and eliminated on the basis of fully reflecting the system temperature change and the temperature change rate, and the precision of the fiber optic inertial measurement unit in the full-temperature-domain environment is ensured.
Detailed Description
The invention discloses a method for compensating the temperature of a fiber-optic gyroscope, which improves the temperature error of the output of the fiber-optic gyroscope through a fiber-optic gyroscope element, the temperature characteristic of the output and a compensation algorithm, and the method for compensating the temperature of the fiber-optic gyroscope comprises the following specific steps:
step 1, building a system-level temperature compensation platform; different simulation experiment conditions are set, and a simulation result is verified by using a corresponding experiment; and assembling the optical fiber inertial navigation system by utilizing a preposed assembly program to realize the working environment of the optical fiber gyroscope system level, building a temperature control platform and designing a temperature control strategy to obtain the actual working condition environment under each temperature condition.
Step 2, collecting and processing working condition temperature data of the temperature compensation platform; the finite element method is used for simulating the influence of the temperature field on the fiber optic gyroscope, steady-state analysis and transient analysis are carried out on the device, and the corresponding thermal distribution condition is obtained through the thermal mechanism generating the temperature drift.
Step 3, analyzing the correlation of each temperature factor, compensating temperature errors by using a high-order polynomial algorithm and an RBF neural network algorithm, and establishing a corresponding mathematical model; the established model of the gyro output standard deviation and the variable temperature rate in the temperature rise process is used as an evaluation index of the relationship between the gyro thermal drift error and the variable temperature rate, the zero-bias compensation model of the fiber optic gyro is established in the working condition environment of the fiber optic strapdown inertial measurement unit, and on the basis of fully reflecting the system temperature change and the temperature change rate, the measurement deviation formed by the system temperature is obtained and eliminated, so that the precision of the fiber optic inertial measurement unit in the full-temperature-domain environment is ensured.
And 4, compensating the gyroscope output by using a least square method, compiling a BP neural network compensation interface for comparing the compensation effects of the linear and nonlinear compensation methods, compensating the gyroscope output by using the BP neural network compensation interface, and comparing the compensation results of the two methods to obtain a conclusion that the BP neural network compensation effect is more excellent. The least square method compensates the gyro scale factor, and provides a variable order least mean square algorithm for scale factor compensation aiming at the defects that the order of the traditional least square method is fixed and the online compensation can not be realized. Experimental results also prove that the compensation effect of the scheme is obviously superior to that of a least square method, and the performance of the fiber optic gyroscope can be better evaluated.
The invention relates to a method for compensating the temperature of a fiber-optic gyroscope, which designs fiber-optic gyroscope experiments under the conditions of different temperature values and different temperature change rates, analyzes the experimental data, calculates relevant parameters in a model and evaluates the compensation effect of an algorithm. The temperature effect of the fiber-optic gyroscope relates to the disciplines of thermal science, elastic mechanics, optics, electronics and the like, the cause and the solution of the fiber-optic gyroscope are systematically researched, and the development of a high-precision inertial navigation system is facilitated. The temperature error of the fiber-optic gyroscope is a nonlinear problem, the rule is complex, and the method is simple, convenient and quick when a high-order polynomial algorithm is applied, and can be conveniently applied in engineering. The RBF neural network algorithm is complex, the nonlinear problem can be solved, and the temperature drift error can be effectively compensated by combining the RBF neural network algorithm and the nonlinear problem.
The present invention will be described in detail with reference to the following embodiments.
The method for compensating the temperature of the fiber-optic gyroscope improves the output temperature error of the fiber-optic gyroscope through the temperature characteristics and the compensation algorithm of the fiber-optic gyroscope element and the output, and the method for compensating the temperature of the fiber-optic gyroscope comprises the following specific steps of:
step 1, building a system-level temperature compensation platform; different simulation experiment conditions are set, and a simulation result is verified by using a corresponding experiment; and assembling the optical fiber inertial navigation system by utilizing a preposed assembly program to realize the working environment of the optical fiber gyroscope system level, building a temperature control platform and designing a temperature control strategy to obtain the actual working condition environment under each temperature condition.
Step 2, collecting and processing working condition temperature data of the temperature compensation platform; the finite element method is used for simulating the influence of the temperature field on the fiber optic gyroscope, steady-state analysis and transient analysis are carried out on the device, and the corresponding thermal distribution condition is obtained through the thermal mechanism generating the temperature drift.
Step 3, analyzing the correlation of each temperature factor, compensating temperature errors by using a high-order polynomial algorithm and an RBF neural network algorithm, and establishing a corresponding mathematical model; the established model of the gyro output standard deviation and the variable temperature rate in the temperature rise process is used as an evaluation index of the relationship between the gyro thermal drift error and the variable temperature rate, the zero-bias compensation model of the fiber optic gyro is established in the working condition environment of the fiber optic strapdown inertial measurement unit, and on the basis of fully reflecting the system temperature change and the temperature change rate, the measurement deviation formed by the system temperature is obtained and eliminated, so that the precision of the fiber optic inertial measurement unit in the full-temperature-domain environment is ensured.
And 4, compensating the gyroscope output by using a least square method, compiling a BP neural network compensation interface for comparing the compensation effects of the linear and nonlinear compensation methods, compensating the gyroscope output by using the BP neural network compensation interface, and comparing the compensation results of the two methods to obtain a conclusion that the BP neural network compensation effect is more excellent. The least square method compensates the gyro scale factor, and provides a variable order least mean square algorithm for scale factor compensation aiming at the defects that the order of the traditional least square method is fixed and the online compensation can not be realized. Experimental results also prove that the compensation effect of the scheme is obviously superior to that of a least square method, and the performance of the fiber optic gyroscope can be better evaluated.
The method for compensating the temperature of the optical fiber gyroscope designs the optical fiber gyroscope experiment under the conditions of different temperature values and different temperature change rates, analyzes the experiment data, and can effectively improve the measurement precision of the optical fiber gyroscope by compensating the temperature drift of the optical fiber gyroscope by adopting the method.
Claims (5)
1. A method for compensating the temperature of a fiber-optic gyroscope is characterized by comprising the following specific steps:
step 1, a system-level temperature compensation platform is set up, different simulation experiment conditions are set, and a simulation result is verified by using a corresponding experiment;
step 2, collecting and processing working condition temperature data of the temperature compensation platform;
step 3, analyzing the correlation of each temperature factor, compensating temperature errors by using a high-order polynomial algorithm and an RBF neural network algorithm, and establishing a corresponding mathematical model;
and 4, compensating by a least square method, compensating the output of the gyroscope by using the method, compiling a BP neural network compensation interface for comparing the compensation effects of the linear and nonlinear compensation methods, and compensating the output of the gyroscope by using the interface.
2. The method for compensating the temperature of the fiber-optic gyroscope according to claim 1, wherein in the step 1, the fiber-optic inertial navigation system is assembled by using a pre-assembly program so as to realize the system-level working environment of the fiber-optic gyroscope, and a temperature control platform is built and a temperature control strategy is designed so as to obtain the actual working condition environment under each temperature condition.
3. The method for compensating the temperature of the fiber optic gyroscope according to claim 1, wherein in the step 2, the finite element method is used for simulating the influence of the temperature field on the fiber optic gyroscope, and the steady-state analysis and the transient analysis are performed on the device, so that the corresponding thermal distribution condition is obtained through a thermal mechanism generating the temperature drift.
4. The method for compensating the temperature of the fiber optic gyroscope according to claim 1, wherein the model of the standard deviation and the temperature change rate of the gyroscope output in the temperature rise process established in the step 3 is used as an evaluation index of the relationship between the thermal drift error and the temperature change rate of the gyroscope, the zero offset compensation model of the fiber optic gyroscope is established in the working condition environment of the fiber optic strapdown inertial unit, and the measurement deviation formed by the system temperature is obtained and eliminated on the basis of fully reflecting the system temperature change and the temperature change rate, so that the precision of the fiber optic inertial unit in the full temperature domain environment is ensured.
5. The method of claim 1, wherein the step 4 least squares method compensates the gyro scale factor, and a variable order least mean square algorithm is proposed for the scale factor compensation.
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| CN111964659A (en) * | 2020-06-28 | 2020-11-20 | 北京航天时代光电科技有限公司 | Optical fiber gyroscope optical fiber ring temperature testing and evaluating system |
| CN114046802A (en) * | 2021-09-28 | 2022-02-15 | 中国船舶重工集团公司第七0七研究所 | Step-by-step temperature compensation method for fiber-optic gyroscope |
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| WO2024045451A1 (en) * | 2022-09-01 | 2024-03-07 | 中国船舶集团有限公司第七〇七研究所 | Fiber-optic gyroscope based on mode division multiplexing and precision improvement method therefor |
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